Discrete-Time Adaptive Fuzzy Command Filtered Backstepping Control for Quadrotor Unmanned Aerial Vehicle Systems: Theory and Experiments
Yang Zhao, Lin Zhao, Jinpeng Yu, Qing‐Guo Wang
Abstract
In this paper, a discrete-time adaptive fuzzy command filtered backstepping control scheme is presented for the altitude and attitude control problems of the quadrotor unmanned aerial vehicle (UAV). The discrete-time controller is designed by using a novel command filtered backstepping method based on the discrete-time system model of the quadrotor, and model uncertainties are handled by using adaptive fuzzy control. Furthermore, the problem of causality is solved by utilizing the first-order filters. The effectiveness of the proposed control scheme is demonstrated by simulation and experiment.
Topics & Concepts
BacksteppingControl theory (sociology)Controller (irrigation)Fuzzy logicComputer scienceFuzzy control systemAttitude controlAdaptive controlControl engineeringScheme (mathematics)Discrete time and continuous timeControl (management)EngineeringMathematicsArtificial intelligenceStatisticsMathematical analysisAgronomyBiologyAdaptive Control of Nonlinear SystemsDistributed Control Multi-Agent SystemsControl and Dynamics of Mobile Robots